Customizing AWS DeepRacer Action Space

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Customizing
AWS
DeepRacer
Action Space
Kire Galev
AWS DeepRacer Expert Boot Camp
Computer Vision Developer

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Action Space in Console
A W S D e e p R a c e r E x p e r t B o o t C a m p
• Works fine
• Easy to use
• Once defined can’t be changed
• Stays same after cloning (transfer learning)

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Action Space .json file location
A W S D e e p R a c e r E x p e r t B o o t C a m p
Console:
S 3 :
/ / a ws - d e e p r a c e r - a 2 5 4 4 9 7 8 - 4 0 e 3 - b 2 a 1 -
c 2 7 9 - 9 9 3 0 4 a d b d 8 1 6 / m o d e l - m e t a d a t a /
M o d e l - n a m e / m o d e l _ m e t a d a t a . j s o n
Local training:
m o d e l _ m e t a d a t a . j s o n
i n c u s t o m _ f i l e s f o l d e r

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How is used my Action Space
A W S D e e p R a c e r E x p e r t B o o t C a m p
Histograms for :
• Episod e
• Iteratio n
• W hole trainin g

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How is used my Action Space
A W S D e e p R a c e r E x p e r t B o o t C a m p
Polar coordinates view
View from cars perspective

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Where is a specific action used on the track
A W S D e e p R a c e r E x p e r t B o o t C a m p

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A W S D e e p R a c e r E x p e r t B o o t C a m p
Where is a specific action used on the track

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What to change in Action Space
A W S D e e p R a c e r E x p e r t B o o t C a m p
• M o v e s t e e r i n g a n g l e l e f t / r i g h t
• I n c r e a s e / D e c r e a s e s p e e d
• D r o p l e s s u s e d a c t i o n s
• M e r g e 2 o r m o r e a c t i o n s i n o n e

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Action Space based on track analysis
A W S D e e p R a c e r E x p e r t B o o t C a m p

11. © 2019, Amazon Web Services, Inc. or its affiliates. All rights reserved.
Action Space based on track analysis
A W S D e e p R a c e r E x p e r t B o o t C a m p

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ChangingAction Space when cloning model
A W S D e e p R a c e r E x p e r t B o o t C a m p
• Number of actions must stay same
• Don’t make drastic changes (max: 5%)
• Wait some time for model “adaptation”

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Questions & Open Discussion
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Kire Galev